CN202537871U - Hand and wrist exoskeleton rehabilitation training device - Google Patents
Hand and wrist exoskeleton rehabilitation training device Download PDFInfo
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- CN202537871U CN202537871U CN2012200679521U CN201220067952U CN202537871U CN 202537871 U CN202537871 U CN 202537871U CN 2012200679521 U CN2012200679521 U CN 2012200679521U CN 201220067952 U CN201220067952 U CN 201220067952U CN 202537871 U CN202537871 U CN 202537871U
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Abstract
The utility model discloses a hand and wrist exoskeleton rehabilitation training device. The device comprises a wrist, a thumb, a power source, an index finger, a middle finger and a ring finger, wherein the power source is fixed on the wrist; and the thumb, the index finger, the middle finger and the ring finger are connected with the power source. A motor drives a screw rod nut to obtain power, and the device has a simple structure and is easy to implement; hand exoskeleton bears weight through a supporting part, so that burden cannot be brought to a patient; and exercise with multiple degrees of freedom is provided, and a large number of flexible rehabilitation training actions can be finished.
Description
Technical field
This utility model relates to a kind of human motion auxiliary device, relates in particular to a kind of hand and wrist exoskeleton rehabilitation training devices.
Background technology
For hand disease patient, comprise unexpected injury, apoplexy etc., the rehabilitation training treatment of science has very important meaning for recovering dexterity to greatest extent.At present, mainly carry out rehabilitation through specialist, such therapeutic modality too relies on doctor's experience, and for patient's individual difference problem, lacks accordingly to measure, and therapeutic effect is greatly limited.
Ectoskeleton is that a kind of can providing carried out configuration to biological soft inside organ, the hard external structure of building and protection.Generally be to call ectoskeleton to shrimp, Eriocheir sinensis, the tough and tensile chitinous skeleton of insecticide constant pitch main drive object table, it has protection and support effect.The machinery ectoskeleton is exactly a kind of brand new technical that obtains thinking from biological ectoskeleton, and it just is suggested as far back as last century as a kind of mode of function of human body being strengthened through machinery, is attempted applying to military field at first; Simultaneously, machinery is ectoskeletal complementaryly also provides new way to rehabilitation and disaster assistance with the property strengthened.
Adopting the exoskeleton rehabilitation training method to compare advantage with existing method is: one, the patient relies on doctor's empirical treatment no longer merely, can quantize training; Two, through setting up database, can carry out differentiated quantification treatment to different patients' individual difference; Three, can realize teletherapy through the network connection data storehouse; Four, the doctor can carry out quantitative analysis to disease according to the data base, helps the rehabilitation training of the system that sets up theoretical.
Existing hand rehabilitation is mainly carried out rehabilitation training through specialist, and such therapeutic modality has three shortcomings: the experience that, too relies on the doctor; Two, the doctor of grasp method seldom; Three, for patient's individual difference problem, lack the corresponding measure that is directed against, therapeutic effect is greatly limited.Sophisticated exoskeleton rehabilitation training devices or method do not appear as yet in the existing simultaneously known technology.
The applicant has applied for that in 2011 it is 201110121085.5 patent application that a utility model name is called " fixed exoskeleton rehabilitation training mechanical hand ", application number; In this patent application; Mechanical hand has only three fingers, and freedom of movement is few, and wrist portion is divided into heavy fixed wrist.
The utility model content
The purpose of this utility model is the deficiency to prior art, and a kind of hand and wrist exoskeleton rehabilitation training devices are provided, and this utility model volume is little, dexterous, intelligent, good operation performance.
The purpose of this utility model realizes through following technical scheme: a kind of hand and wrist exoskeleton rehabilitation training devices, and it comprises wrist, thumb, power source, forefinger, middle finger and the third finger etc.; Power source is fixed on the wrist, and thumb, forefinger, middle finger and the third finger link to each other with power source respectively.
Further, said power source comprise down drive motors, go up drive motors, down motor cabinet, go up motor cabinet, second bearing connection, nut guide plate, go up transmission nut, go up on drive lead screw, underdrive screw mandrel, clutch shaft bearing connector, top chock, step, underdrive nut, optocoupler fixture, second optocoupler, the optocoupler fixture, first optocoupler and forefinger fixing head etc.; Said forefinger, middle finger and the third finger include far-end dactylus ectoskeleton, first pressure transducer, DIP joint knee, middle-end dactylus ectoskeleton, distal joint three hinge-rods, second pressure transducer, near-end joint three hinge-rods, left knee ectoskeleton, PIP joint knee, tobacco pipe hinge, MP joint knee and the 3rd pressure transducer etc.; Said thumb comprises thumb first motor; The first thumb connector; The first motor bearings bearing; The first thumb gear; The second thumb gear; The middle finger connector; The thumb drives motor; Thumb motor bearings bearing; The thumb drive lead screw; The thumb transmission nut; Thumb MP joint knee; The thumb frame; The thumb bearing block; Thumb three hole connecting rods; The thumb left knee; Thumb DIP joint knee; Second pressure transducer; Thumb far-end dactylus; First pressure transducer and the second thumb connector etc.; Said wrist comprises on worm gear case, carpal joint bearing block, wrist motor flange, wrist plate, wrist motor, the first wrist connecting rod, on the preceding arm support, accelerometer, wrist right connecting rod, the second wrist connecting rod, forearm frame and wrist left side connecting rod etc.
Further, said power source is fixed on the parts wrist through the forefinger fixing head; Forefinger is fixed on the forefinger fixing head through tobacco pipe hinge frame, and forefinger MP joint knee is hinged with corresponding underdrive nut, and PIP joint knee is hinged with corresponding last transmission nut; Nameless identical with forefinger with other parts connected mode with the parts middle finger, thumb is fixed on the forefinger fixing head through the first thumb connector.
Further; In the said power source; Top chock support to be gone up drive lead screw through deep groove ball bearing, is with transmission nut on the last drive lead screw, and nut guide plate and last transmission nut are joined and merged into its guiding; Last motor cabinet supports through deep groove ball bearing and goes up drive lead screw, and last drive lead screw connects through last motor cabinet and last drive motors; Step supports the underdrive screw mandrel through deep groove ball bearing; Be with the underdrive nut on the underdrive screw mandrel; Nut guide plate and underdrive nut are joined and are merged into its guiding, and following motor cabinet supports the underdrive screw mandrel through deep groove ball bearing, and the underdrive screw mandrel is through motor cabinet and following drive motors connection down; Clutch shaft bearing connector while and top chock and step are threaded, and second bearing connection while and last motor cabinet are threaded with following motor cabinet; Step is fixed on the forefinger fixing head with following motor cabinet; Last optocoupler fixture and forefinger fixing head are threaded, and optocoupler fixture upper top is fixed first optocoupler, and light Rhizoma Nelumbinis fixture and forefinger fixing head are threaded, and the second smooth Rhizoma Nelumbinis is fixed at light Rhizoma Nelumbinis fixture top.
Further, in said forefinger, middle finger and the third finger, MP joint knee one end and underdrive nut are hinged, and the MP joint knee other end and left knee ectoskeleton are hinged, and the left knee ectoskeleton is connected with the forefinger fixing head through the tobacco pipe hinge; PIP joint knee one end and last transmission nut are hinged; The other end and near-end joint three hinge-rods are hinged; The top and distal joint three hinge-rods of near-end joint three hinge-rods are hinged, and bottom and left knee ectoskeleton are hinged, and the left knee ectoskeleton is hinged with middle-end dactylus ectoskeleton; Ectoskeletal top of middle-end dactylus and distal joint three hinge-rods are hinged; Bottom and far-end dactylus ectoskeleton are hinged, and far-end dactylus ectoskeleton is hinged with DIP joint knee, and the DIP joint knee other end and far-end dactylus three hinge-rods are hinged; First pressure transducer and second pressure transducer and the 3rd pressure transducer are placed in far-end dactylus ectoskeleton and middle-end dactylus ectoskeleton and the ectoskeletal below of left knee respectively.
Further, said first pressure transducer and second pressure transducer are placed in the below of thumb far-end dactylus and thumb left knee respectively, and thumb far-end dactylus and thumb left knee are hinged; Also hinged simultaneously with thumb DIP joint knee; The other end and the thumb three pore chain bars of thumb DIP joint knee are hinged, and the top of thumb left knee and thumb three pore chains connect hinged, and the bottom of thumb left knee and thumb frame are hinged; Thumb MP joint knee and thumb three pore chain bars are hinged; The other end and thumb transmission nut are hinged, and the thumb transmission nut is enclosed within on the thumb drive lead screw, and thumb drive lead screw one end is supported through deep groove ball bearing by the thumb bearing block; The other end is supported through deep groove ball bearing by thumb motor bearings bearing; The thumb drive lead screw connects through thumb motor bearings bearing and thumb drives motor, and the thumb frame is threaded with the middle finger connector, and the middle finger connector and the second thumb connector are hinged; Second gear is cemented on the middle finger connector through screw; The first thumb connector is fixed on the forefinger fixing head through screw thread, and the first motor bearings bearing is threaded with the first thumb connector, and first gear crosses the first motor bearings bearing through beam warp and thumb first motor connects.
Further, said parts wrist has motor to be connected with the wrist motor flange through the screw connection, drives worm gear case; Carpal joint bearing block and wrist plate are hinged, and the wrist plate is threaded with the forefinger fixing head, and the carpal joint bearing block is threaded with the wrist right connecting rod, and wrist right connecting rod one end is threaded with preceding arm support, and the other end is threaded with the forearm frame; Before on the arm support top and first on the wrist connecting rod and second the wrist connecting rod be threaded; Be fixed with accelerometer; The preceding arm support other end is threaded with wrist left side connecting rod; On the forearm upper rack and first on the wrist connecting rod and second the wrist connecting rod be threaded, the forearm frame other end and wrist left side connecting rod is threaded.
Compared with prior art, the technique effect below this utility model has been obtained:
1, gain impetus through the motor-driven feed screw nut, simple in structure, and be easy to realize.
2, the hand ectoskeleton is born weight through support section, can not constitute burden to the patient.
3, the motion of more freedom is provided, can have accomplished more dexterousr rehabilitation training actions.
4, with the applicant before patent application compare, have bigger improvement: the many dactylus of thumb and and forefinger between a side-sway degree of freedom is arranged, can better effectively treat patient's thumb; Compare the former and have more a third finger, can treat patient's hand better; Reasonable more, compact, stable on the structural design of forefinger; Fixed change into light and handy portablely in wrist part by the former is heavy, and have more one degree of freedom at the wrist place.
Description of drawings
Fig. 1 is the overall structure sketch map of this utility model;
Fig. 2 is the structural representation in this utility model medium power source;
Fig. 3 is forefinger or the middle finger or the nameless structural representation of this utility model;
Fig. 4 is the structural representation of the thumb of this utility model;
Fig. 5 is the structural representation of view under the thumb of this utility model;
Fig. 6 is the structural representation of the wrist of this utility model;
In the figure, 58, first optocoupler 59 on wrist 1, thumb 2, power source 3, forefinger 4, middle finger 5, nameless 6, worm gear case 7, carpal joint bearing block 8, wrist motor flange 9, wrist plate 10, wrist motor 11, the first wrist connecting rod 12, on the preceding arm support 13, accelerometer 14, wrist right connecting rod 15, the second wrist connecting rod 16, on forearm frame 17, wrist left side connecting rod 18, underdrive screw mandrel 19, thumb first motor 20, the first thumb connector 21, the first motor bearings bearing 22, the first thumb gear 23, the second thumb gear 24, middle finger connector 25, thumb drives motor 26, thumb motor bearings bearing 27, thumb drive lead screw 28, thumb transmission nut 29, thumb MP joint knee 30, thumb frame 31, thumb bearing block 32, thumb three pore chain bars 33, thumb left knee 34, thumb DIP joint knee 35, thumb second pressure transducer 36, thumb far-end dactylus 37, thumb first pressure transducer 38, the second thumb connector 39, clutch shaft bearing connector 40, far-end dactylus ectoskeleton 41, first pressure transducer 42, DIP joint knee 43, middle-end dactylus ectoskeleton 44, distal joint three hinge-rods 45, second pressure transducer 46, near-end joint three hinge-rods 47, left knee ectoskeleton 48, PIP joint knee 49, tobacco pipe hinge 50, MP joint knee 51, the 3rd pressure transducer 52, top chock 53, step 54, underdrive nut 55, optocoupler fixture 56, second optocoupler 57, the optocoupler fixture, forefinger fixing head 60, Xia drive motors 61, scheme drive motors 62, Xia motor cabinet 63, & CAT[V
The specific embodiment
Further specify the embodiment of this utility model below in conjunction with accompanying drawing.
As shown in Figure 1, this utility model hand and wrist exoskeleton rehabilitation training devices comprise wrist 1, thumb 2, power source 3, forefinger 4, middle finger 5 and nameless 6.Power source 3 is fixed on the wrist 1, and thumb 2, forefinger 4, middle finger 5 link to each other with power source 3 respectively with nameless 6.
As shown in Figure 2, power source 3 comprises down drive motors 61, goes up drive motors 62, down motor cabinet 63, go up motor cabinet 64, second bearing connection 65, nut guide plate 66, go up transmission nut 67, go up drive lead screw 68,58, first optocoupler 59, forefinger fixing head 60 on underdrive screw mandrel 19, clutch shaft bearing connector 40, top chock 53, step 54, underdrive nut 55, optocoupler fixture 56, second optocoupler 57, the optocoupler fixture.
As shown in Figure 3, forefinger 4, middle finger 5 and nameless 6 include far-end dactylus ectoskeleton 41, first pressure transducer 42, DIP joint knee 43, middle-end dactylus ectoskeleton 44, distal joint three hinge-rods 45, second pressure transducer 46, near-end joint three hinge-rods 47, left knee ectoskeleton 48, PIP joint knee 49, tobacco pipe hinge 50, MP joint knee 51, the 3rd pressure transducer 52.
Like Fig. 4 and shown in Figure 5, thumb 2 comprises thumb first motor 20, the first thumb connector 21, the first motor bearings bearing 22, the first thumb gear 23, the second thumb gear 24, middle finger connector 25, thumb drives motor 26, thumb motor bearings bearing 27, thumb drive lead screw 28, thumb transmission nut 29, thumb MP joint knee 30, thumb frame 31, thumb bearing block 32, thumb three pore chain bars 33, thumb left knee 34, thumb DIP joint knee 35, thumb second pressure transducer 36, thumb far-end dactylus 37, thumb first pressure transducer 38, the second thumb connector 39.
As shown in Figure 6, wrist 1 comprises on worm gear case 7, carpal joint bearing block 8, wrist motor flange 9, wrist plate 10, wrist motor 11, the first wrist connecting rod 12, on the preceding arm support 13, accelerometer 14, wrist right connecting rod 15, the second wrist connecting rod 16, forearm frame 17, wrist left side connecting rod 18.
Annexation is following between the each several part:
Power source 3 is fixed on the parts wrist 1 through forefinger fixing head 60; Forefinger 4 is fixed on the forefinger fixing head 60 through tobacco pipe hinge 50, and MP joint knee 51 is hinged with corresponding underdrive nut 55, and PIP joint knee 49 is with corresponding to go up transmission nut 67 hinged; Nameless 6 is identical with forefinger 4 with other parts connected mode with parts middle finger 5, and thumb 2 is fixed on the forefinger fixing head 60 through the first thumb connector 21.
Referring to Fig. 2; In the described power source 3; Top chock 53 supports through deep groove ball bearing and goes up drive lead screw 68, is with transmission nut 67 on the last drive lead screw 68, and nut guide plate 66 and last transmission nut 67 are joined and merged into its guiding; Last motor cabinet 64 supports through deep groove ball bearing and goes up drive lead screw 68, and last drive lead screw 68 connects through last motor cabinet 64 and last drive motors 62; Step 54 supports underdrive screw mandrel 19 through deep groove ball bearing; Be with underdrive nut 55 on the underdrive screw mandrel 19; Nut guide plate 66 is joined with underdrive nut 55 and is merged into its guiding; Following motor cabinet 63 supports underdrive screw mandrel 19 through deep groove ball bearing, and underdrive screw mandrel 19 is through motor cabinet 63 and following drive motors 61 connect down; 40 whiles of clutch shaft bearing connector and top chock 53 are threaded with step 54, and 65 whiles of second bearing connection and last motor cabinet 64 are threaded with following motor cabinet 63; Step 54 is fixed on the forefinger fixing head 60 with following motor cabinet 63; 58 are threaded with forefinger fixing head 60 on the optocoupler fixture, fixing first optocoupler 59 in 58 tops on the optocoupler fixture, and light Rhizoma Nelumbinis fixture 56 is threaded with forefinger fixing head 60, and the second smooth Rhizoma Nelumbinis is fixed at light Rhizoma Nelumbinis fixture 56 tops.A power source partly comprises two above-mentioned parts, corresponds respectively to forefinger ectoskeleton and middle finger ectoskeleton and nameless ectoskeleton.
Referring to Fig. 3; In said forefinger 4, the middle finger 5 and nameless 6; MP joint knee 51 1 ends and underdrive nut 55 are hinged, and MP joint knee 51 other ends and left knee ectoskeleton 48 are hinged, and left knee ectoskeleton 48 is connected with forefinger fixing head 60 through tobacco pipe hinge 50; PIP joint knee 49 1 ends and last transmission nut 67 are hinged; The other end and near-end joint three hinge-rods 47 are hinged; The top of near-end joint three hinge-rods 47 and distal joint three hinge-rods 45 are hinged, and bottom and left knee ectoskeleton 48 are hinged, and left knee ectoskeleton 48 is hinged with middle-end dactylus ectoskeleton 44; The top of middle-end dactylus ectoskeleton 44 and distal joint three hinge-rods 45 are hinged; Bottom and far-end dactylus ectoskeleton 41 are hinged, and far-end dactylus ectoskeleton 41 is hinged with DIP joint knee 43, and DIP joint knee 43 other ends and far-end dactylus three hinge-rods 45 are hinged; First pressure transducer 42 and second pressure transducer 46 and the 3rd pressure transducer 52 are placed in the below of far-end dactylus ectoskeleton 41 and middle-end dactylus ectoskeleton 44 and left knee ectoskeleton 48 respectively.
Participate in Fig. 4 and Fig. 5; Thumb first pressure transducer 38 and thumb second pressure transducer 36 are placed in the below of thumb far-end dactylus 37 and thumb left knee 34 respectively; Thumb far-end dactylus 37 is hinged with thumb left knee 34, and also hinged with thumb DIP joint knee 35 simultaneously, the other end and the thumb three pore chain bars 33 of thumb DIP joint knee 35 are hinged; The top of thumb left knee 34 and thumb three pore chain bars 33 are hinged; The bottom of thumb left knee 34 and thumb frame 31 are hinged, and thumb MP joint knee 30 is hinged with thumb three pore chain bars 33, and the other end and thumb transmission nut 29 are hinged; Thumb transmission nut 29 is enclosed within on the thumb drive lead screw 28; Thumb drive lead screw 28 1 ends are supported through deep groove ball bearing by thumb bearing block 32, and the other end is supported through deep groove ball bearing by thumb motor bearings bearing 27, and thumb drive lead screw 28 connects through thumb motor bearings bearing 27 and thumb drives motor 26; Thumb frame 31 is threaded with middle finger connector 25; The middle finger connector 25 and the second thumb connector 39 are hinged, and the second thumb gear 24 is cemented on the middle finger connector 25 through screw, and the first thumb connector 21 is fixed on the forefinger fixing head 60 through screw thread; The first motor bearings bearing 22 is threaded with the first thumb connector 21, and the first thumb gear 23 is crossed the first motor bearings bearing 22 through beam warp and connect with thumb first motor 20.
Referring to Fig. 6, said parts wrist 1 has wrist motor 11 to be connected with wrist motor flange 9 through the screw connection, drives worm gear case 7; Carpal joint bearing block 8 is hinged with wrist plate 10; Wrist plate 10 is threaded with forefinger fixing head 60; Carpal joint bearing block 8 is threaded with wrist right connecting rod 15, and wrist right connecting rod 15 1 ends are threaded with preceding arm support 13, and the other end is threaded with forearm frame 17; Before 16 be threaded on the 12 and second wrist connecting rod on arm support 13 tops and the first wrist connecting rod; Be fixed with accelerometer 14; Preceding arm support 13 other ends are threaded with wrist left side connecting rod 18; 16 be threaded on the 12 and second wrist connecting rod on forearm frame 17 tops and the first wrist connecting rod, forearm frame 17 other ends are threaded with wrist left side connecting rod 18.
The work process of this utility model is following:
Patient's hands has been dressed the hand ectoskeleton.When exoskeleton manipulator was done grasp motion, last drive motors 62 and following drive motors 61 rotated, and drove respectively to go up drive lead screw 68 and 19 rotations of underdrive screw mandrel, made that going up transmission nut 67 does rectilinear motion with underdrive nut 55.With the forefinger is example, and underdrive nut 55 moves forward, and promotes 51 motions of MP joint knee, promotes left knee ectoskeleton 48 indirectly and rotates, and promptly drives patient's left knee flexing.Last transmission nut 67 moves forward; Promote 49 motions of PIP joint knee, near-end joint three hinge-rods 47 are rotated, promote distal joint three hinge-rods 45 simultaneously and rotate; Also make middle-end dactylus ectoskeleton 44 rotate, promptly drive patient's middle-end dactylus flexing around left knee ectoskeleton 48; Distal joint three hinge-rods 45 also make DIP joint knee 43 travel forward when rotating, and rotate thereby promote far-end dactylus ectoskeleton 41, promptly drive patient's far-end dactylus flexing.The motor backward rotation then realizes the stretching that each is pointed.Patient's thumb can also be realized the side-sway motion, and thumb first motor 20 rotates, and drives the first thumb gear 23 and rotates, and makes the second thumb gear 24 along with rotation, thereby makes thumb 2 around forefinger 4 side-swaies.
Patient's wrist is rotated, and is rotated by wrist motor 11, drives and drives worm gear case 7, makes wrist certain angle swing 1 about, thereby drive patient wrist is partly carried out rehabilitation.
The different motor rotating speed, corresponding different dactylus velocities of rotation, different motor torque, the corresponding different power of bending and stretching.
The protection domain of this utility model is not limited to the foregoing description, and obviously, those skilled in the art can carry out various changes and distortion and not break away from the scope and the spirit of this utility model this utility model.If these changes and distortion belong in the scope of this utility model claim and equivalent technologies thereof, then this utility model also is intended to comprise these changes and is out of shape interior.
In this utility model; Power is provided by the motor on the back of the hand and thumb back and wrist side; Through worm gear case and feed screw nut transmission the rotation of motor is converted into the rotation of wrist and the rectilinear motion of nut; Changing it into each dactylus ectoskeletal flexing stretching, finally realize rehabilitation training via many link motions transmission system.
Claims (6)
1. hand and wrist exoskeleton rehabilitation training devices is characterized in that, it comprises wrist (1), thumb (2), power source (3), forefinger (4), middle finger (5) and nameless (6); Power source (3) is fixed on the wrist (1), and thumb (2), forefinger (4), middle finger (5) link to each other with power source (3) respectively with nameless (6).
2. according to said hand of claim 1 and wrist exoskeleton rehabilitation training devices; It is characterized in that, said power source (3) comprises down drive motors (61), goes up drive motors (62), down motor cabinet (63), go up motor cabinet (64), second bearing connection (65), nut guide plate (66), go up transmission nut (67), go up (58), first optocoupler (59) and forefinger fixing head (60) on drive lead screw (68), underdrive screw mandrel (19), clutch shaft bearing connector (40), top chock (53), step (54), underdrive nut (55), optocoupler fixture (56), second optocoupler (57), the optocoupler fixture; Said forefinger (4), middle finger (5) and the third finger (6) include far-end dactylus ectoskeleton (41), first pressure transducer (42), DIP joint knee (43), middle-end dactylus ectoskeleton (44), distal joint three hinge-rods (45), second pressure transducer (46), near-end joint three hinge-rods (47), left knee ectoskeleton (48), PIP joint knee (49), tobacco pipe hinge (50), MP joint knee (51) and the 3rd pressure transducer (52); Said thumb (2) comprises thumb first motor (20); The first thumb connector (21); The first motor bearings bearing (22); The first thumb gear (23); The second thumb gear (24); Middle finger connector (25); Thumb drives motor (26); Thumb motor bearings bearing (27); Thumb drive lead screw (28); Thumb transmission nut (29); Thumb MP joint knee (30); Thumb frame (31); Thumb bearing block (32); Thumb three pore chain bars (33); Thumb left knee (34); Thumb DIP joint knee (35); Thumb second pressure transducer (36); Thumb far-end dactylus (37); Thumb first pressure transducer (38) and the second thumb connector (39); Said wrist (1) comprises on worm gear case (7), carpal joint bearing block (8), wrist motor flange (9), wrist plate (10), wrist motor (11), the first wrist connecting rod (16) on (12), preceding arm support (13), accelerometer (14), wrist right connecting rod (15), the second wrist connecting rod, forearm frame (17) and wrist left side connecting rod (18); Said power source (3) is fixed on the parts wrist (1) through forefinger fixing head (60); Forefinger (4) is fixed on the forefinger fixing head (60) through tobacco pipe hinge (50), and MP joint knee (51) is hinged with corresponding underdrive nut (55), and PIP joint knee (49) is hinged with corresponding last transmission nut (67); Nameless (6) are identical with forefinger (4) with other parts connected mode with parts middle finger (5), and thumb (2) is fixed on the forefinger fixing head (60) through the first thumb connector (21).
3. according to said hand of claim 2 and wrist exoskeleton rehabilitation training devices; It is characterized in that; In the said power source (3); Top chock (53) support to be gone up drive lead screw (68) through deep groove ball bearing, is with transmission nut (67) on the last drive lead screw (68), and nut guide plate (66) and last transmission nut (67) are joined and merged into its guiding; Last motor cabinet (64) supports through deep groove ball bearing and goes up drive lead screw (68), and last drive lead screw (68) connects through last motor cabinet (64) and last drive motors (62); Step (54) supports underdrive screw mandrel (19) through deep groove ball bearing; Be with underdrive nut (55) on the underdrive screw mandrel (19); Nut guide plate (66) and underdrive nut (55) are joined and are merged into its guiding; Following motor cabinet (63) supports underdrive screw mandrel (19) through deep groove ball bearing, and underdrive screw mandrel (19) is through motor cabinet (63) and following drive motors (61) connect down; Clutch shaft bearing connector (40) while and top chock (53) and step (54) are threaded, and second bearing connection (65) while and last motor cabinet (64) and following motor cabinet (63) are threaded; Step (54) and following motor cabinet (63) are fixed on the forefinger fixing head (60); (58) and forefinger fixing head (60) are threaded on the optocoupler fixture; Fixing first optocoupler (59) in (58) top on the optocoupler fixture; Light Rhizoma Nelumbinis fixture (56) and forefinger fixing head (60) are threaded, and the second smooth Rhizoma Nelumbinis is fixed at light Rhizoma Nelumbinis fixture (56) top.
4. according to said hand of claim 2 and wrist exoskeleton rehabilitation training devices; It is characterized in that; In said forefinger (4), middle finger (5) and the third finger (6); MP joint knee (51) one ends and underdrive nut (55) are hinged, and MP joint knee (51) other end and left knee ectoskeleton (48) are hinged, and left knee ectoskeleton (48) is connected with forefinger fixing head (60) through tobacco pipe hinge (50); PIP joint knee (49) one ends and last transmission nut (67) are hinged; The other end and near-end joint three hinge-rods (47) are hinged; The top of near-end joint three hinge-rods (47) and distal joint three hinge-rods (45) are hinged, and bottom and left knee ectoskeleton (48) are hinged, and left knee ectoskeleton (48) is hinged with middle-end dactylus ectoskeleton (44); The top of middle-end dactylus ectoskeleton (44) and distal joint three hinge-rods (45) are hinged; Bottom and far-end dactylus ectoskeleton (41) are hinged, and far-end dactylus ectoskeleton (41) is hinged with DIP joint knee (43), and DIP joint knee (43) other end and far-end dactylus three hinge-rods (45) are hinged; First pressure transducer (42) and second pressure transducer (46) and the 3rd pressure transducer (52) are placed in the below of far-end dactylus ectoskeleton (41) and middle-end dactylus ectoskeleton (44) and left knee ectoskeleton (48) respectively.
5. according to said hand of claim 2 and wrist exoskeleton rehabilitation training devices; It is characterized in that; Said thumb first pressure transducer (38) and thumb second pressure transducer (36) are placed in the below of thumb far-end dactylus (37) and thumb left knee (34) respectively; Thumb far-end dactylus (37) is hinged with thumb left knee (34); Also hinged simultaneously with thumb DIP joint knee (35); The other end of thumb DIP joint knee (35) and thumb three pore chain bars (33) are hinged, and the top of thumb left knee (3) 4 and thumb three pore chain bars (33) are hinged, and the bottom of thumb left knee (34) and thumb frame (31) are hinged; Thumb MP joint knee (30) is hinged with thumb three pore chain bars (33); The other end and thumb transmission nut (29) are hinged, and thumb transmission nut (29) is enclosed within on the thumb drive lead screw (28), and thumb drive lead screw (28) one ends are supported through deep groove ball bearing by thumb bearing block (32); The other end is supported through deep groove ball bearing by thumb motor bearings bearing (27); Thumb drive lead screw (28) connects through thumb motor bearings bearing (27) and thumb drives motor (26), and thumb frame (31) is threaded with middle finger connector (25), and middle finger connector (25) is hinged with the second thumb connector (39); The second thumb gear (24) is cemented on the middle finger connector (25) through screw; The first thumb connector (21) is fixed on the forefinger fixing head (60) through screw thread, and the first motor bearings bearing (22) is threaded with the first thumb connector (21), and the first thumb gear (23) is crossed the first motor bearings bearing (22) through beam warp and connect with thumb first motor (20).
6. according to said hand of claim 2 and wrist exoskeleton rehabilitation training devices, it is characterized in that said parts wrist (1) has wrist motor (11) to be connected with wrist motor flange (9) through the screw connection, drives worm gear case (7); Carpal joint bearing block (8) is hinged with wrist plate (10); Wrist plate (10) is threaded with forefinger fixing head (60); Carpal joint bearing block (8) is threaded with wrist right connecting rod (15); Wrist right connecting rod (15) one ends are threaded with preceding arm support (13), and the other end is threaded with forearm frame (17); Before on arm support (13) top and the first wrist connecting rod on (12) and the second wrist connecting rod (16) be threaded; Be fixed with accelerometer (14); Preceding arm support (13) other end is threaded with wrist left side connecting rod (18); On forearm frame (17) top and the first wrist connecting rod on (12) and the second wrist connecting rod (16) be threaded, forearm frame (17) other end is threaded with wrist left side connecting rod (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200679521U CN202537871U (en) | 2012-02-28 | 2012-02-28 | Hand and wrist exoskeleton rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200679521U CN202537871U (en) | 2012-02-28 | 2012-02-28 | Hand and wrist exoskeleton rehabilitation training device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202537871U true CN202537871U (en) | 2012-11-21 |
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| CN2012200679521U Expired - Fee Related CN202537871U (en) | 2012-02-28 | 2012-02-28 | Hand and wrist exoskeleton rehabilitation training device |
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| CN102579227A (en) * | 2012-02-28 | 2012-07-18 | 浙江大学 | Hand and wrist exoskeleton rehabilitation training device |
| CN103767856A (en) * | 2014-01-24 | 2014-05-07 | 西安交通大学 | Wearing type five-finger recovery manipulator |
| CN103845183A (en) * | 2014-01-15 | 2014-06-11 | 安阳工学院 | Hand rehabilitation trainer |
| WO2015024852A1 (en) * | 2013-08-21 | 2015-02-26 | Hocoma Ag | Hand motion exercising device |
| CN104840334A (en) * | 2015-04-30 | 2015-08-19 | 东南大学 | Finger movement function rehabilitation training device |
| CN104921907A (en) * | 2015-07-17 | 2015-09-23 | 东南大学 | Finger movement mechanism used for hemiplegic patient rehabilitation training and rehabilitation training device |
| CN105380773A (en) * | 2015-11-10 | 2016-03-09 | 哈尔滨工业大学 | Exercise assisting device based on elongate pneumatic muscles |
| CN105411810A (en) * | 2014-09-12 | 2016-03-23 | 精工爱普生株式会社 | Driving apparatus and driving method therefor |
| CN105457236A (en) * | 2015-12-29 | 2016-04-06 | 中国科学院深圳先进技术研究院 | Rehabilitation training hand and rehabilitation training method |
| CN105726263A (en) * | 2016-04-19 | 2016-07-06 | 西安交通大学 | Wearable hand exoskeleton rehabilitation training robot |
| CN105796283A (en) * | 2016-03-01 | 2016-07-27 | 哈尔滨工程大学 | Exoskeleton hand rehabilitation training device |
| CN105881519A (en) * | 2016-06-17 | 2016-08-24 | 天津职业技术师范大学 | Functional rehabilitation robot based on flexible cable-driven hand movement |
| CN105997433A (en) * | 2016-06-25 | 2016-10-12 | 哈尔滨鼎智瑞光科技有限公司 | Automatically adjustable type pneumatic reciprocating rehabilitation training manipulator |
| CN109223442A (en) * | 2018-09-25 | 2019-01-18 | 上海交通大学 | Exoskeleton-type seven freedom manipulators in rehabilitation |
| CN109793640A (en) * | 2019-01-24 | 2019-05-24 | 苏州睿智瀚医疗科技有限公司 | Hand exoskeleton mechanism |
| CN109893400A (en) * | 2019-04-17 | 2019-06-18 | 北京因时机器人科技有限公司 | A kind of finger flex movement mechanism for ectoskeleton hand healing robot |
| EP3936104A1 (en) | 2020-06-28 | 2022-01-12 | Vysoká Skola Bánská - Technická Univerzita Ostrava | Joint with two degrees of freedom for use in exoskeletons and rehabilitation facilities |
| CN115040361A (en) * | 2022-06-18 | 2022-09-13 | 哈尔滨理工大学 | Novel single-degree-of-freedom finger exoskeleton rehabilitation connecting rod structure |
| WO2023075587A1 (en) * | 2021-10-29 | 2023-05-04 | Izaguirre Perez Paola Aralid | Exoskeleton system for orthoses and prostheses of hand phalanges |
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| CN102579227A (en) * | 2012-02-28 | 2012-07-18 | 浙江大学 | Hand and wrist exoskeleton rehabilitation training device |
| CN102579227B (en) * | 2012-02-28 | 2014-01-29 | 浙江大学 | Hand and wrist exoskeleton rehabilitation training device |
| WO2015024852A1 (en) * | 2013-08-21 | 2015-02-26 | Hocoma Ag | Hand motion exercising device |
| CN103845183A (en) * | 2014-01-15 | 2014-06-11 | 安阳工学院 | Hand rehabilitation trainer |
| CN103767856A (en) * | 2014-01-24 | 2014-05-07 | 西安交通大学 | Wearing type five-finger recovery manipulator |
| CN103767856B (en) * | 2014-01-24 | 2016-02-24 | 西安交通大学 | A kind of Wearable five finger gymnastic mechanical hand |
| CN105411810A (en) * | 2014-09-12 | 2016-03-23 | 精工爱普生株式会社 | Driving apparatus and driving method therefor |
| CN104840334A (en) * | 2015-04-30 | 2015-08-19 | 东南大学 | Finger movement function rehabilitation training device |
| CN104921907A (en) * | 2015-07-17 | 2015-09-23 | 东南大学 | Finger movement mechanism used for hemiplegic patient rehabilitation training and rehabilitation training device |
| CN105380773A (en) * | 2015-11-10 | 2016-03-09 | 哈尔滨工业大学 | Exercise assisting device based on elongate pneumatic muscles |
| CN105457236A (en) * | 2015-12-29 | 2016-04-06 | 中国科学院深圳先进技术研究院 | Rehabilitation training hand and rehabilitation training method |
| CN105457236B (en) * | 2015-12-29 | 2017-12-01 | 中国科学院深圳先进技术研究院 | Rehabilitation training hand and recovery training method |
| CN105796283A (en) * | 2016-03-01 | 2016-07-27 | 哈尔滨工程大学 | Exoskeleton hand rehabilitation training device |
| CN105796283B (en) * | 2016-03-01 | 2017-11-21 | 哈尔滨工程大学 | A kind of ectoskeleton hand device for healing and training |
| CN105726263A (en) * | 2016-04-19 | 2016-07-06 | 西安交通大学 | Wearable hand exoskeleton rehabilitation training robot |
| CN105881519B (en) * | 2016-06-17 | 2017-12-15 | 天津职业技术师范大学 | One kind is based on Wire driven robot hand movement function healing robot |
| CN105881519A (en) * | 2016-06-17 | 2016-08-24 | 天津职业技术师范大学 | Functional rehabilitation robot based on flexible cable-driven hand movement |
| CN105997433A (en) * | 2016-06-25 | 2016-10-12 | 哈尔滨鼎智瑞光科技有限公司 | Automatically adjustable type pneumatic reciprocating rehabilitation training manipulator |
| CN109223442B (en) * | 2018-09-25 | 2020-02-18 | 上海交通大学 | Exoskeleton type seven-degree-of-freedom rehabilitation manipulator |
| CN109223442A (en) * | 2018-09-25 | 2019-01-18 | 上海交通大学 | Exoskeleton-type seven freedom manipulators in rehabilitation |
| CN109793640A (en) * | 2019-01-24 | 2019-05-24 | 苏州睿智瀚医疗科技有限公司 | Hand exoskeleton mechanism |
| CN109893400A (en) * | 2019-04-17 | 2019-06-18 | 北京因时机器人科技有限公司 | A kind of finger flex movement mechanism for ectoskeleton hand healing robot |
| CN109893400B (en) * | 2019-04-17 | 2024-04-05 | 北京因时机器人科技有限公司 | Finger bending and stretching movement mechanism for exoskeleton hand rehabilitation robot |
| EP3936104A1 (en) | 2020-06-28 | 2022-01-12 | Vysoká Skola Bánská - Technická Univerzita Ostrava | Joint with two degrees of freedom for use in exoskeletons and rehabilitation facilities |
| WO2023075587A1 (en) * | 2021-10-29 | 2023-05-04 | Izaguirre Perez Paola Aralid | Exoskeleton system for orthoses and prostheses of hand phalanges |
| CN115040361A (en) * | 2022-06-18 | 2022-09-13 | 哈尔滨理工大学 | Novel single-degree-of-freedom finger exoskeleton rehabilitation connecting rod structure |
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